Class MotionPowerSink

• Defined in File MotionPowerSink.hpp

Inheritance Relationships

Derived Type

• public rmf_battery::agv::SimpleMotionPowerSink (Class SimpleMotionPowerSink)

Class Documentation

class rmf_battery::MotionPowerSink

Subclassed by rmf_battery::agv::SimpleMotionPowerSink

Public Functions

virtual double compute_change_in_charge(const rmf_traffic::Trajectory &trajectory) const = 0

Compute change in state-of-charge of the battery due to locomotion of the robot along a trajectory.

Return

The charge depleted as a fraction of the total battery capacity

Parameters

• [in] trajectory: A valid rmf_traffic:::Trajectory over which the change in charge has to to be computed

virtual ~MotionPowerSink() = default